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<div class="title">internal.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_INTERNAL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KINFU_INTERNAL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/utils/safe_call.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu_large_scale/device.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//using namespace pcl::gpu;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">namespace </span>kinfuLS</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    {</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1kinfu_l_s_1_1_light_source.html">   54</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_light_source.html">LightSource</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        float3 pos[1];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordtype">int</span> number;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      };</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="comment">// Maps</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      bilateralFilter (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; src, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; dst);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      pyrDown (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; src, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; dst);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      createVMap (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      createNMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      computeNormalsEigen (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      transformMaps (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_src, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_src, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rmat, <span class="keyword">const</span> float3&amp; tvec, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_dst, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_dst);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      truncateDepth(<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, <span class="keywordtype">float</span> max_distance);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">//   ICP </span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;              </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      findCoresp (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_curr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_curr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rprev_inv, <span class="keyword">const</span> float3&amp; tprev, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                  <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_prev, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_prev, <span class="keywordtype">float</span> distThres, <span class="keywordtype">float</span> angleThres, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;short2&gt;</a> coresp);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      estimateTransform (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; v_dst, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; n_dst, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; v_src, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;short2&gt;</a>&amp; coresp,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; gbuf, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; mbuf, <span class="keywordtype">float</span>* matrixA_host, <span class="keywordtype">float</span>* vectorB_host);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      estimateCombined (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rcurr, <span class="keyword">const</span> float3&amp; tcurr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_curr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_curr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rprev_inv, <span class="keyword">const</span> float3&amp; tprev, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                        <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_prev, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_prev, <span class="keywordtype">float</span> distThres, <span class="keywordtype">float</span> angleThres, </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; gbuf, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; mbuf, <span class="keywordtype">float</span>* matrixA_host, <span class="keywordtype">float</span>* vectorB_host);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      estimateCombined (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rcurr, <span class="keyword">const</span> float3&amp; tcurr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_curr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_curr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rprev_inv, <span class="keyword">const</span> float3&amp; tprev, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                        <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_prev, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_prev, <span class="keywordtype">float</span> distThres, <span class="keywordtype">float</span> angleThres,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;double&gt;</a>&amp; gbuf, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;double&gt;</a>&amp; mbuf, <span class="keywordtype">double</span>* matrixA_host, <span class="keywordtype">double</span>* vectorB_host);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="comment">// TSDF volume functions            </span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      initVolume(<a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> array);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="comment">//first version</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment"></span>      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      integrateTsdfVolume (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;ushort&gt;</a>&amp; depth_raw, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> float3&amp; volume_size, </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                          <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rcurr_inv, <span class="keyword">const</span> float3&amp; tcurr, <span class="keywordtype">float</span> tranc_dist, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> volume);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="comment">//second version</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="comment"></span>      PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      integrateTsdfVolume (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;ushort&gt;</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> float3&amp; volume_size, </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                          <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rcurr_inv, <span class="keyword">const</span> float3&amp; tcurr, <span class="keywordtype">float</span> tranc_dist, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> volume, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a>* buffer, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; depthScaled);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      clearTSDFSlice (<a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> volume, <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a>* buffer, <span class="keywordtype">int</span> shiftX, <span class="keywordtype">int</span> shiftY, <span class="keywordtype">int</span> shiftZ);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      initColorVolume(<a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar4&gt;</a> color_volume);    </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      updateColorVolume(<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, <span class="keywordtype">float</span> tranc_dist, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; R_inv, <span class="keyword">const</span> float3&amp; t, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;              <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;uchar3&gt;</a>&amp; colors, <span class="keyword">const</span> float3&amp; volume_size, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar4&gt;</a> color_volume, <span class="keywordtype">int</span> max_weight = 1);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="comment">// Raycast and view generation        </span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment"></span>      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      raycast (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; Rcurr, <span class="keyword">const</span> float3&amp; tcurr, <span class="keywordtype">float</span> tranc_dist, <span class="keyword">const</span> float3&amp; volume_size, </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;              <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a>* buffer, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      generateImage (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_light_source.html">LightSource</a>&amp; light, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;uchar3&gt;</a> dst);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      generateDepth (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">Mat33</a>&amp; R_inv, <span class="keyword">const</span> float3&amp; t, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; dst);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      paint3DView(<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar3&gt;</a>&amp; colors, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;uchar3&gt;</a> dst, <span class="keywordtype">float</span> colors_weight = 0.5f);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      resizeVMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; input, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; output);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      resizeNMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; input, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; output);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="comment">// Push data to TSDF</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="comment">/*PCL_EXPORTS*/</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      pushCloudAsSliceGPU (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt;PointType&gt;</a> cloud_gpu, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a>* buffer);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="comment">// Cloud extraction </span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      PCL_EXPORTS <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      extractCloud (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <span class="keyword">const</span> float3&amp; volume_size, <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a> output);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      PCL_EXPORTS <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      extractSliceAsCloud (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <span class="keyword">const</span> float3&amp; volume_size, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a>* buffer, <span class="keyword">const</span> <span class="keywordtype">int</span> shiftX, <span class="keyword">const</span> <span class="keywordtype">int</span> shiftY, <span class="keyword">const</span> <span class="keywordtype">int</span> shiftZ, <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a> output_xyz, <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;float&gt;</a> output_intensities);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NormalType&gt; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      extractNormals (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <span class="keyword">const</span> float3&amp; volume_size, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a>&amp; input, NormalType* output);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      exctractColors(<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar4&gt;</a>&amp; color_volume, <span class="keyword">const</span> float3&amp; volume_size, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a>&amp; points, uchar4* colors);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="comment">// Utility</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1kinfu_l_s_1_1float8.html">  381</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1float8.html">float8</a>  { <span class="keywordtype">float</span> x, y, z, w, c1, c2, c3, c4; };</div>
<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1kinfu_l_s_1_1float12.html">  382</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1kinfu_l_s_1_1float12.html">float12</a> { <span class="keywordtype">float</span> x, y, z, w, normal_x, normal_y, normal_z, n4, c1, c2, c3, c4; };</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      convert (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;T&gt;</a>&amp; output);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      mergePointNormal(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float4&gt;</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float8&gt;</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float12&gt;</a>&amp; output);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      valid_host (<span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        <span class="keywordflow">return</span> *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span>(&amp;value) != 0x7fffffff; <span class="comment">//QNAN</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <span class="keyword">inline</span> </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      sync () { cudaSafeCall (cudaDeviceSynchronize ()); }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">class</span> D, <span class="keyword">class</span> Matx&gt; D&amp;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      device_cast (Matx&amp; matx)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      {</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">reinterpret_cast&lt;</span>D*<span class="keyword">&gt;</span>(matx.data ()));</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;   </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="comment">// Marching cubes implementation</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      bindTextures(<span class="keyword">const</span> <span class="keywordtype">int</span> *edgeBuf, <span class="keyword">const</span> <span class="keywordtype">int</span> *triBuf, <span class="keyword">const</span> <span class="keywordtype">int</span> *numVertsBuf);            </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      unbindTextures();</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      getOccupiedVoxels(<span class="keyword">const</span> PtrStep&lt;short2&gt;&amp; volume, DeviceArray2D&lt;int&gt;&amp; occupied_voxels);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      computeOffsetsAndTotalVertexes(DeviceArray2D&lt;int&gt;&amp; occupied_voxels);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      generateTriangles(<span class="keyword">const</span> PtrStep&lt;short2&gt;&amp; volume, <span class="keyword">const</span> DeviceArray2D&lt;int&gt;&amp; occupied_voxels, <span class="keyword">const</span> float3&amp; volume_size, DeviceArray&lt;PointType&gt;&amp; output);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  }</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;}</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_INTERNAL_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a></div><div class="ttdoc">DeviceArray2D class</div><div class="ttdef"><b>Definition:</b> device_array.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a></div><div class="ttdoc">DeviceArray class</div><div class="ttdef"><b>Definition:</b> device_array.h:58</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1kinfu_l_s_1_1_intr_html"><div class="ttname"><a href="structpcl_1_1device_1_1kinfu_l_s_1_1_intr.html">pcl::device::kinfuLS::Intr</a></div><div class="ttdoc">Camera intrinsics structure</div><div class="ttdef"><b>Definition:</b> device.h:82</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1kinfu_l_s_1_1_light_source_html"><div class="ttname"><a href="structpcl_1_1device_1_1kinfu_l_s_1_1_light_source.html">pcl::device::kinfuLS::LightSource</a></div><div class="ttdoc">Light source collection</div><div class="ttdef"><b>Definition:</b> internal.h:55</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1kinfu_l_s_1_1_mat33_html"><div class="ttname"><a href="structpcl_1_1device_1_1kinfu_l_s_1_1_mat33.html">pcl::device::kinfuLS::Mat33</a></div><div class="ttdoc">3x3 Matrix for device code</div><div class="ttdef"><b>Definition:</b> device.h:104</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1kinfu_l_s_1_1float12_html"><div class="ttname"><a href="structpcl_1_1device_1_1kinfu_l_s_1_1float12.html">pcl::device::kinfuLS::float12</a></div><div class="ttdef"><b>Definition:</b> internal.h:382</div></div>
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<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:78</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_sz_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step_sz.html">pcl::gpu::PtrStepSz</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:93</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_sz_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_sz.html">pcl::gpu::PtrSz</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:70</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a></div><div class="ttdoc">Structure to handle buffer addresses</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:52</div></div>
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